CN106218840B - A kind of dish-shaped submarine navigation device based on eddying motion - Google Patents
A kind of dish-shaped submarine navigation device based on eddying motion Download PDFInfo
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- CN106218840B CN106218840B CN201610874142.XA CN201610874142A CN106218840B CN 106218840 B CN106218840 B CN 106218840B CN 201610874142 A CN201610874142 A CN 201610874142A CN 106218840 B CN106218840 B CN 106218840B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000001179 sorption measurement Methods 0.000 claims abstract description 25
- 238000010521 absorption reaction Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 28
- 238000012545 processing Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000009193 crawling Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
- B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
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- B63B2702/12—
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- B63B2702/14—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of dish-shaped submarine navigation device based on eddying motion, using disk like kuppe, disk like kuppe is circumferentially at least one circumferential propeller, and the vertical of disk like kuppe is equipped with vortex generating mechanism and at least one vertical thrusters.Circumferential propeller is for driving movement of the aircraft in disk like kuppe horizontal plane；Vertical thrusters are for driving movement of the aircraft in disk like kuppe vertical direction；Vortex generating mechanism is used to generate the adsorption capacity relative to adsorption plane.The present invention proposes a kind of new technology for realizing body surface absorption based on vortex absorption mechanism so that submarine navigation device has firm adsorption ability；The progradation of propeller, aircraft is coordinated to have both omnidirectional moving ability of creeping and parade, more existing submarine navigation device of creeping or parade has the advantages that headway is fast, motion control is quick.Detection sensor and power tool are carried as needed, can be used for executing the tasks such as Underwater Engineering detection, emergent search and construction operation.
Description
Technical field
The invention belongs to oceanographic surveys and monitoring field, and in particular to a kind of dish-shaped underwater navigation based on eddying motion
Device.
Background technology
Autonomous Underwater Vehicle integrates the technologies such as sensing, communication, navigation, control, the energy, propulsion, is recent two decades
One of the most advanced technology for carrying out the development of international ocean engineering field, due to its low cost, maneuverability is strong and high autonomy
Advantage has become the important tool of marine environment three-dimensional dynamic observation in recent years.
Usually there are two types of typical motion forms for existing Autonomous Underwater Vehicle：It parades and creeps.The submarine navigation device of parade
It is elongated streamline mostly, when movement is in neutral buoyancy or micro- positive buoyancy state, and some is distinguished using propeller and control flaps
Carry out driving and pose adjustment, such as conventional Autonomous Underwater Vehicle, some using regulating mechanism of buoyancy and gravity center adjusting mechanism (or
Tail vane) driving and pose adjustment, such as underwater glider are carried out respectively.The submarine navigation device of parade can quick sailing, but transport
Dynamic control sensitivity is not high.The submarine navigation device creeped is usually bionical streamlined, negative buoyancy force state is in when movement, using more
The mode of the bionical, electromagnetic adsorption of foot or vacuum suction realizes crawling exercises, is realized since it is desired that control is coordinated by multiple executing agencies
It creeps action, therefore creep speed is relatively low.Existing Autonomous Underwater Vehicle is difficult to have both high speed, quick parade simultaneously and creep
Locomitivity, the adsorption ability being capable of providing is limited and is limited by application scenario, therefore is not easy to execute fast and accurately mesh
Job task is searched for and loaded under water to mark.
Invention content
The present invention is directed to break through domestic existing submersible design concept, technology restriction and operational mode, propose that one kind is based on
The dish-shaped submarine navigation device of eddying motion.The aircraft is based on vortex absorption mechanism and coordinates the progradations of multiple propellers,
High speed, quick parade and crawling exercises ability are not only had both, and can also realize firm static holding and efficient omnidirectional
Movement.
The technical solution adopted in the present invention is：A kind of dish-shaped submarine navigation device based on eddying motion, is led using disk like
Stream cover, disk like kuppe are circumferentially at least one circumferential propeller, and the vertical of disk like kuppe is equipped with vortex generating mechanism
With at least one vertical thrusters.
The disk like kuppe reduces the aircraft resistance that all directions move in disk like kuppe horizontal plane；
The circumferential direction propeller, for driving movement of the aircraft in disk like kuppe horizontal plane；
The vertical thrusters, for driving movement of the aircraft in disk like kuppe vertical direction；
The vortex generating mechanism provides for aircraft the adsorption capacity relative to adsorption plane based on vortex absorption mechanism.
Further, the vortex generating mechanism is made of semi open model cup-shaped shell, impeller and its driving mechanism, described
Impeller drive is tightly connected with semi open model cup-shaped shell.
Further, the impeller uses S-shaped blade, S-shaped width of blade ecto-entad to axle center to gradually reduce；It is described to open
Formula cup-shaped shell Internal periphery is put equipped with the matched flow path of blade with impeller, to improve the flow field control ability of impeller.
Further, the disk like kuppe is equipped with middle part conduit, and vertical thrusters setting is vortexed on middle part conduit top
Generating mechanism is arranged in middle part conduit lower part.
Further, the circumferential propeller is three or four, is circumferentially uniformly distributed along disk like kuppe；Pass through setting
Propulsion ratio between circumferential propeller realizes the quick motion control of aircraft any direction in disk like kuppe horizontal plane.
Further, at least one circumferential propeller is furnished with rotary drive mechanism, for changing the propulsion of circumferential propeller
Direction carries out aircraft pitch attitude adjusting.
Further, which further includes sensor measuring system, for carrying out underwater environment observation and target acquisition.
Further, it is equipped at least one pressure-resistant seal nacelle in disk like kuppe, power supply is equipped in pressure-resistant seal cabin body
Module, navigational communications module, system control module.
The power module provides electric energy for all electronic devices of system, and has electric energy distribution, monitoring and defencive function；
The navigational communications module is used to obtain the position of aircraft, posture, speed, acceleration information, and realizes and bank
The communication of base control centre；
The system control module is responsible for the data interaction with each peripheral hardware of system, is merged to navigation sensor data
Processing carries out the motion control of aircraft, and realizes the acquisition, processing and storage to detection sensor data, while monitoring and being
System operating status simultaneously completes abnormal conditions processing.
Further, which further includes the middle bracket being detachably connected with disk like kuppe, and circumferential propeller hangs down
It is fixed in middle bracket to propeller, vortex generating mechanism and pressure-resistant seal nacelle.
Compared with prior art, the present invention has the advantages that：
Submarine navigation device proposed by the present invention uses lower resistance disk like shape, not only effectively reduces in aircraft bearer plane
The resistance of all directions movement, and reduce flow fields environment interference and be conducive to realize static holding, and provided for vortex generating mechanism
Appropriate bearing space also facilitates the layout of multiple propellers.
The present invention is based on vortex absorption mechanisms, are rotated in inside and outside semi-open cup-shaped shell using internal impeller and generate pressure difference,
Obtain the adsorption effect relative to adsorption plane so that aircraft can securely be adsorbed on body surface.Compared to electromagnetic adsorption
And vacuum suction, under identical power consumption, vortex adsorption capacity is stronger.Adsorption effect, whirlpool can be realized because that need not be in direct contact
The application scenario for revolving absorption is also more extensive.
Under vortex adsorption force, the further progradation of the circumferential propeller of cooperation, aircraft can be along absorption
Face carries out quickly quick crawling exercises.When vortex generating mechanism is stopped, pushed away in the collaboration of circumferential and vertical multi-thruster
Into under effect, aircraft also being capable of the interior parade campaign for completing rapid sensitive of three dimensions under water.
By the propulsion ratio of reasonable disposition circumferential direction propeller, the quick of any direction in supporting plate plane may be implemented in aircraft
Prompt motion control need not can be directly realized by steering by turning motion.Coordinate the progradation of vertical thrusters, aircraft
Omnidirectional moving ability that is front and back, lateral, upper and lower and arbitrarily turning to can be obtained.
The present invention proposes a kind of new technology for realizing body surface absorption based on vortex absorption mechanism so that submarine navigation device
With firm adsorption ability, it is suitable for underwater load different areas of activity；The progradation of propeller, aircraft is coordinated to have both
It creeps and parades omnidirectional moving ability, more existing submarine navigation device of creeping or parade has that headway is fast, motion control is quick
Advantage.Detection sensor and power tool are carried as needed, be can be used for executing Underwater Engineering detection, emergent search and construction and are made
The tasks such as industry.
Description of the drawings
Fig. 1 is vortex absorption principle schematic diagram of the present invention；
Fig. 2 is propeller placement scheme schematic diagram of the present invention, and (a) is circumferential 3 propellers, is (b) circumferential 4 propulsions
Device (c) is vertical 1 propeller；
Fig. 3 is the dish-shaped submarine navigation device structural schematic diagram of the present invention, and (a) is equal shaft side figures, is (b) upward view, (c) based on
View is (d) vertical view, is (e) inside top figure, is (f) internal upward view；
In figure, 1 is disk like kuppe, and 2 be circumferential propeller, and 3 be vertical thrusters, and 4 be vortex generating mechanism, and 5 be half
Open cup-shaped shell, 6 be impeller, and 7 be impeller drive, and 8 be battery and electric energy management cabin, and 9 be battery pack, and 10 be electric energy
Circuit is managed, 11 be navigational communications cabin, and 12 be pressure-resistant seal cabin body end lid, and 13 be O-ring seals, and 14 justify for pressure-resistant seal nacelle
Column-shaped barrel, 15 be circuit carriers, and 16 be wireless communication module, and 17 be satellite communication module, and 18 be inertial navigation module, and 19 be GPS
Locating module, 20 be wifi module, and 21 be electronic compass, and 22 be Doppler log, and 23 be depth transducer, and 24 be system control
System and data acquire cabin, and 25 be main control circuit, and 26 be data acquisition circuit, and 27 be underwater camera, and 28 be underwater lamp, and 29 are
Imaging sonar, 30 be supporting plate, and 31 be propeller rotary drive mechanism, and 32 be middle part conduit, and 33 be antenna house.
Specific implementation mode
It elaborates below to the embodiment of the present invention：The present embodiment is carried out lower based on the technical solution of the present invention
Implement, gives detailed embodiment and specific operation principle, but protection scope of the present invention is not limited to following implementation
Example.
A kind of dish-shaped submarine navigation device based on eddying motion provided by the invention, using disk like kuppe 1, disk like water conservancy diversion
Cover 1 is circumferentially at least one circumferential propeller 2, the vertical vortex generating mechanism 4 and at least one of being equipped with of disk like kuppe 1
Vertical thrusters 3.
The disk like kuppe 1 reduces the aircraft resistance that all directions move in disk like kuppe horizontal plane；
The circumferential direction propeller 2, for driving movement of the aircraft in disk like kuppe horizontal plane；
The vertical thrusters 3, for driving movement of the aircraft in disk like kuppe vertical direction；
The vortex generating mechanism 4 provides for aircraft the adsorption capacity relative to adsorption plane based on vortex absorption mechanism.
Further, the vortex generating mechanism 4 is made of semi open model cup-shaped shell 5, impeller 6 and its driving mechanism 7,
The impeller drive 7 is tightly connected with semi open model cup-shaped shell 5；As shown in Figure 1, wherein Fb：Buoyancy；Fg：Gravity；
Fa：Propulsive force；Ff：Frictional force；Fv：Adsorption capacity.
Further, the impeller 6 uses S-shaped blade, S-shaped width of blade ecto-entad to axle center to gradually reduce；It is described
5 Internal periphery of open cup-shaped shell is equipped with the matched flow path of blade with impeller 6, to improve the flow field control ability of impeller.
Further, the disk like kuppe 1 as shown in (c) in Fig. 2 is equipped with middle part conduit 32, and vertical thrusters 3 are arranged
32 top of conduit at middle part, vortex generating mechanism 4 are arranged in 32 lower part of middle part conduit.
Further, as shown in (a) in Fig. 2, (b), the circumferential direction propeller 2 is three or four, along disk like kuppe 1
Circumferentially it is uniformly distributed；By the way that the propulsion ratio between circumferential propeller 2 is arranged, realize that aircraft is appointed in disk like kuppe horizontal plane
The quick motion control in meaning direction.
Further, at least one circumferential propeller 2 is furnished with rotary drive mechanism 31, for changing circumferential propeller 2
Direction of propulsion carries out aircraft pitch attitude adjusting.
Further, which further includes sensor measuring system, for carrying out underwater environment observation and target acquisition.
Further, it is equipped at least one pressure-resistant seal nacelle in disk like kuppe 1, power supply is equipped in pressure-resistant seal cabin body
Module, navigational communications module, system control module.
The power module provides electric energy for all electronic devices of system, and has electric energy distribution, monitoring and defencive function；
The navigational communications module is used to obtain the position of aircraft, posture, speed, acceleration information, and realizes and bank
The communication of base control centre；
The system control module is responsible for the data interaction with each peripheral hardware of system, is merged to navigation sensor data
Processing carries out the motion control of aircraft, and realizes the acquisition, processing and storage to detection sensor data, while monitoring and being
System operating status simultaneously completes abnormal conditions processing.
Further, which further includes the middle bracket 30 being detachably connected with disk like kuppe 1, circumferential propeller
2, vertical thrusters 3, vortex generating mechanism 4 and pressure-resistant seal nacelle are fixed in middle bracket 30.
Embodiment 1
In the present embodiment, aircraft is using a circumferential propeller 2, in order to realize that the course in aircraft bearer plane is controlled
System, it is also necessary to increase control rudder structure.
Embodiment 2
In the present embodiment, any direction in aircraft bearer plane may be implemented using two circumferential propellers 2 in aircraft
Motion control, but motion control sensitivity is not as good as the situation of three or four circumferential propellers 2.
Embodiment 3
In the present embodiment, aircraft uses two or more vertical thrusters 3, is respectively placed in disk like kuppe 1
Top and bottom, at this time disk like kuppe 1 need not open up middle part conduit 32, aircraft can also realize the movement of upper and lower directions
Control.
Embodiment 4
In the present embodiment, the disk like kuppe 1 of aircraft is equipped with middle part conduit 32, one vertical built in middle part conduit 32 to push away
Into device 3, and use along the circumferential equally distributed three or four circumferential propellers 2 of disk like kuppe 1, before aircraft can be realized
Afterwards, left and right, up and down and the quick motion control that arbitrarily turns to, the structure of four circumferential propellers 2 is circumferential compared to three to be promoted
The structure of device 2, system motion control is easier but system structure is slightly complicated.
Embodiment 5
In the present embodiment, pressure-resistant seal nacelle specifically includes：Battery and electric energy management cabin 8, navigational communications cabin 11, system control
System and data acquire cabin 24.Three pressure-resistant seal nacelles are attached by watertight cable, complete mutual electric energy and letter
Number transmission.
The pressure-resistant seal nacelle is made of cylindrical tube 14 and both sides end cap 12, and both sides end cap passes through fastener and circle
Column-shaped barrel is fixedly connected, and is sealed by O-ring 13.
The battery and electric energy management cabin 8, internal battery group 9 and power management circuit 10.
The system control and data acquire cabin 24, built-in main control circuit 25 and data acquisition circuit 26.
The navigational communications cabin 11, built-in GPS positioning module 19, inertial navigation module 18, electronic compass 21, depth transducer 23
With various communication terminals, the communication terminal includes：Wifi module 20, wireless communication module 16, satellite communication module 17；It is external
Doppler log 22 be connected with the inertial navigation module 18 in navigational communications cabin 11 by watertight cable, or pass through watertight cable
The main control circuit 25 that cabin 24 is acquired with system control and data is connected.Wherein：
GPS positioning module 19, when aircraft is located at the water surface, the location information for obtaining aircraft；
Inertial navigation module 18, the posture for obtaining aircraft and acceleration information carry out integral acquisition to acceleration information
The speed and location information of aircraft；
Electronic compass 21, the posture information for obtaining aircraft；
Doppler log 22, velocity information for obtaining aircraft and from bottom elevation information；
Depth transducer 23, the depth information for obtaining aircraft；
Wifi module 20, for short distance (within 50 meters) data transmission between bank base control centre and aircraft, such as
Control routine passes down and gathered data uploads, and transmission rate is most fast；
Wireless communication module 16, for moderate distance (within the 1000 meters) number between bank base control centre and aircraft
According to transmission, if control instruction passes down and aircraft operating status reports, transmission rate is between wifi and satellite communication；
Satellite communication module 17, for remote (the being more than 1000 meters) data between bank base control centre and aircraft
Transmission, if biography and aircraft location information report down for emergency processing instruction, transmission rate is most slow.
The antenna of the GPS positioning module 19 and various communication terminals is sealed in antenna house 33, and antenna house 33 is fixed on
On the cylindrical tube 14 in navigational communications cabin 11.
The depth transducer 23 is fixed on the end cap 12 in navigational communications cabin 11, and the Doppler log 22 is fixed on
On supporting plate 30.
Electronic device in the pressure-resistant seal cabin body is fixed on pressure-resistant seal cabin body end by circuit carriers 15 and covers.
Embodiment 6
In the present embodiment, the sensor measuring system of aircraft can be underwater camera 27, underwater lamp 28 and imaging sonar
29, be fixed on supporting plate 30 by connector, and respectively by watertight cable and battery and electric energy management cabin 8, system control and
Data acquisition cabin 24 is connected.
A kind of dish-shaped submarine navigation device operation principle based on eddying motion of the present invention is：
Dish-shaped submarine navigation device based on eddying motion is rotated in semi-open cup-shaped using the impeller 6 of vortex generating mechanism 4
The inside and outside adsorption effect for generating pressure difference, obtaining relative to adsorption plane of shell 5 so that aircraft can securely be adsorbed on object table
Face is suitably executed underwater load job task.
Under vortex adsorption force, the further progradation of cooperation circumferential direction propeller 2, aircraft can be along absorption
Face carries out quickly quick crawling exercises.When vortex generating mechanism 4 is stopped, in circumferential propeller 2 and vertical thrusters 3
Under Coordinate development effect, aircraft also being capable of the interior parade campaign for completing rapid sensitive of three dimensions under water.
No matter crawling exercises or parading movement, by the propulsion ratio of reasonable disposition circumferential direction propeller 2, aircraft can be with
The quick motion control for realizing any direction in bearer plane, need not can be directly realized by steering by turning motion.Cooperation
The progradation of vertical thrusters 3, aircraft can obtain omnidirectional moving ability that is front and back, lateral, upper and lower and arbitrarily turning to, have
It is searched for conducive to fast and accurately submarine target is carried out.In addition, for large-scale depth adjustment, it can rotate and drive by propeller
Mechanism 31 changes the direction of propulsion of circumferential propeller 2, and depth adjustment is realized in the pitch attitude by controlling aircraft.
In aircraft operational process, battery pack 9 is that each function element of system works normally by power management circuit 10
The energy is provided.It, can be complete by wifi module 20, wireless communication module 16 and satellite communication module 17 when aircraft is located at the water surface
At the data transmission of different distance between aircraft and bank base control centre.GPS positioning module 19, inertial navigation module 18, electronics sieve
The navigation modules such as disk 21, Doppler log 22, depth transducer 23, provide the navigation such as position, posture and the speed of aircraft
Information is used for the motion control of aircraft.In addition, underwater camera 27 and the vision and image-forming information of imaging sonar 29 are on the one hand
Acquisition, processing and the storage that data are completed by data acquisition circuit 26, on the other hand extract vision by feature recognition algorithms
It can also be used for the motion control of aircraft with imaging features information.Main control circuit 25 refers to according to the control of bank base control centre
It enables, navigation information, vision and imaging features information are revolved to circumferential propeller 2, propeller respectively in conjunction with certain control algolithm
Turn driving mechanism 31, vertical thrusters 3 and vortex generating mechanism 4 and send control instruction, completes accurate motion control, reliably hold
Row observation and detection mission.
Specific embodiments of the present invention are described above.It is to be appreciated that the present invention be not limited to it is above-mentioned specific
Embodiment, this field staff can make various deformations or amendments within the scope of the claims, this has no effect on this
The substantive content of invention.
Claims (8)
1. a kind of dish-shaped submarine navigation device based on eddying motion, it is characterised in that：Using disk like kuppe (1), disk like water conservancy diversion
Cover (1) is circumferentially at least one circumferential propeller (2), disk like kuppe (1) it is vertical be equipped with vortex generating mechanism (4) and
At least one vertical thrusters (3)；
The disk like kuppe (1) reduces the aircraft resistance that all directions move in disk like kuppe horizontal plane；
The circumferential direction propeller (2), for driving movement of the aircraft in disk like kuppe horizontal plane；
The vertical thrusters (3), for driving movement of the aircraft in disk like kuppe vertical direction；
The vortex generating mechanism (4) provides the adsorption capacity relative to adsorption plane based on vortex absorption mechanism for aircraft, by
Semi open model cup-shaped shell (5), impeller (6) and its driving mechanism (7) composition, the impeller drive (7) and semi open model
Cup-shaped shell (5) is tightly connected；While impeller (6) rotation generates the adsorption capacity relative to adsorption plane, tieed up between adsorption plane
Hold certain gap (34).
2. a kind of dish-shaped submarine navigation device based on eddying motion according to claim 1, it is characterised in that：The impeller
(6) S-shaped blade, S-shaped width of blade ecto-entad to axle center is used to gradually reduce；Open cup-shaped shell (5) Internal periphery
Equipped with the matched flow path of blade with impeller (6), to improve the flow field control ability of impeller.
3. according to a kind of dish-shaped submarine navigation device based on eddying motion of claim 1-2 any one of them, it is characterised in that：
The disk like kuppe (1) is equipped with middle part conduit (32), and vertical thrusters (3) setting is on middle part conduit (32) top, and be vortexed life
It is arranged in middle part conduit (32) lower part at mechanism (4).
4. according to a kind of dish-shaped submarine navigation device based on eddying motion of claim 1-2 any one of them, it is characterised in that：
The circumferential direction propeller (2) is three or four, is circumferentially uniformly distributed along disk like kuppe (1)；By the way that circumferential propeller is arranged
(2) the propulsion ratio between realizes the quick motion control of aircraft any direction in disk like kuppe horizontal plane.
5. according to a kind of dish-shaped submarine navigation device based on eddying motion of claim 1-2 any one of them, it is characterised in that：
At least one circumferential direction propeller (2) is furnished with rotary drive mechanism (31), for changing the direction of propulsion of circumferential propeller (2), into
Row aircraft pitch attitude is adjusted.
6. according to a kind of dish-shaped submarine navigation device based on eddying motion of claim 1-2 any one of them, it is characterised in that：
The aircraft further includes sensor measuring system, for carrying out underwater environment observation and target acquisition.
7. a kind of dish-shaped submarine navigation device based on eddying motion according to claim 6, it is characterised in that：Disk like water conservancy diversion
It covers and is equipped at least one pressure-resistant seal nacelle in (1), power module, navigational communications module, system are equipped in pressure-resistant seal cabin body
Control module；
The power module provides electric energy for all electronic devices of system, and has electric energy distribution, monitoring and defencive function；
The navigational communications module is used to obtain the position of aircraft, posture, speed, acceleration information, and realizes and bank base control
The communication at center processed；
The system control module is responsible for the data interaction with each peripheral hardware of system, and fusion treatment is carried out to navigation sensor data,
The motion control of aircraft is carried out, and realizes the acquisition, processing and storage to detection sensor data, while supervisory control system running
State simultaneously completes abnormal conditions processing.
8. a kind of dish-shaped submarine navigation device based on eddying motion according to claim 7, it is characterised in that：The aircraft
Further include the middle bracket (30) being detachably connected with disk like kuppe (1), circumferential propeller (2), vertical thrusters (3), whirlpool
Rotation generating mechanism (4) and pressure-resistant seal nacelle are fixed in middle bracket (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874142.XA CN106218840B (en) | 2016-09-30 | 2016-09-30 | A kind of dish-shaped submarine navigation device based on eddying motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610874142.XA CN106218840B (en) | 2016-09-30 | 2016-09-30 | A kind of dish-shaped submarine navigation device based on eddying motion |
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| Publication Number | Publication Date |
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| CN106218840A CN106218840A (en) | 2016-12-14 |
| CN106218840B true CN106218840B (en) | 2018-08-21 |
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| CN201610874142.XA Active CN106218840B (en) | 2016-09-30 | 2016-09-30 | A kind of dish-shaped submarine navigation device based on eddying motion |
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| CN106771741A (en) * | 2016-12-15 | 2017-05-31 | 深圳供电局有限公司 | Robot for detecting inside of oil-immersed transformer |
| CN106908259A (en) * | 2017-01-12 | 2017-06-30 | 深圳供电局有限公司 | Propelling arrangement method of oil-immersed transformer internal detection robot |
| CN108327873A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of observation grade underwater robot structure |
| CN106828845B (en) * | 2017-02-27 | 2018-08-24 | 中国科学院海洋研究所 | Collar plate shape rotating propulsion type autonomy is dived device |
| CN110340899A (en) * | 2019-06-19 | 2019-10-18 | 深圳供电局有限公司 | A overhaul robot for oil-immersed transformer |
| CN110316338B (en) * | 2019-07-12 | 2020-05-19 | 西北工业大学 | Posture-adjustable water-spraying vector propulsion circular-disk underwater robot and control method thereof |
| CN110979570B (en) * | 2019-12-16 | 2021-10-29 | 安徽赛安安全技术有限公司 | Intelligent robot for water surface monitoring |
| CN111024429B (en) * | 2019-12-23 | 2021-02-12 | 浙江大学 | Underwater vortex adsorption sucker performance testing device and testing method |
| CN112270294A (en) * | 2020-11-12 | 2021-01-26 | 中国海洋大学 | Underwater vehicle vortex identification method and device and underwater vehicle |
| CN112722217A (en) * | 2020-12-31 | 2021-04-30 | 浙江大学 | Seabed charging type crawling dual-mode underwater vehicle |
| CN113277042A (en) * | 2021-07-07 | 2021-08-20 | 东南大学 | Omnidirectional disc-shaped underwater robot |
| CN113682450B (en) * | 2021-08-31 | 2022-07-05 | 中山大学 | Underwater bionic robot based on double-vortex adsorption |
| CN114056015B (en) * | 2021-11-29 | 2023-08-22 | 中国科学院沈阳自动化研究所 | Wheel-paddle amphibious robot |
| CN114393601B (en) * | 2021-12-27 | 2024-05-17 | 浙江大学海南研究院 | Deep sea self-adaptive adsorption type mechanical arm |
| CN115140287B (en) * | 2022-06-09 | 2023-12-19 | 东南大学 | Disk-shaped submersible driven by jet flow and movement method thereof |
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| WO2013117934A1 (en) * | 2012-02-08 | 2013-08-15 | Gary Sewell | Vortex generator and applications thereof |
| CN102616353B (en) * | 2012-04-17 | 2014-03-26 | 哈尔滨工程大学 | Saucer submersible |
| CN103253312B (en) * | 2013-05-31 | 2016-03-02 | 江苏科技大学 | Mode-switch under-water robot and control method thereof |
| CN103600821B (en) * | 2013-11-07 | 2016-03-30 | 江苏科技大学 | Omnidirectional swims and climbs wall under-water robot |
| CN104527952B (en) * | 2014-12-23 | 2017-05-10 | 浙江大学 | Minitype autonomous underwater vehicle |
| CN105947150B (en) * | 2016-05-09 | 2018-07-06 | 浙江大学 | A kind of underwater helicopter |
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